//
// Created by YY on 2024/2/27.
//

#include "car_box.h"
#include "../jni_log.h"
#include "../common/string_util.h"
#include "../common/serial_port.h"
#include "../rtk_module/parse_gps.h"
#include <thread>

#define DEBUG(fmt, args...)     LOGD("<car_box> <%s>: " fmt, __func__, ##args)

#define PARSE_BUFF_SIZE         4096

static SerialPort *pCls = nullptr;

static void UartThread(void *p) {
    struct serial_config *cfg = (struct serial_config *) p;

    pCls = new SerialPort(*cfg);

    int res = pCls->InitSerialPort();
    DEBUG("Serial %s open %d", cfg->name, res);

    uint8_t RxBuf[PARSE_BUFF_SIZE];
    int RxBufLen = 0;

    while (res == 0) {
        int ul = pCls->ReadSerialPort((uint8_t *)RxBuf + RxBufLen, sizeof(RxBuf) - RxBufLen);
        if (ul < 0) {
            continue;
        } else if (ul == 0) {
            // usb串口断开
            break;
        }
        RxBufLen += ul;

        /*{
            static char buffd[16384];

            buffd[0] = 0;
            int i = 0;
            for (i = 0; i < ul; i++) {
                if ((i % 32) == 0) {
                    sprintf(buffd + strlen(buffd), "\n");
                }
                sprintf(buffd + strlen(buffd), "%02X ", RxBuf[i]);
                if (strlen(buffd) > 800) {
                    DEBUG("%s <- %s...", "UART", buffd);
                    buffd[0] = 0;
                }
            }
            if (strlen(buffd) > 0)
                DEBUG("%s <- %s", "UART", buffd);
        }*/

        if (RxBufLen > 0) {
            const uint8_t *ptr = parseGPS(RxBuf, RxBuf + RxBufLen);
            if (ptr != RxBuf) {
                memcpy(RxBuf, ptr, RxBufLen - (ptr - RxBuf));
                RxBufLen -= ptr - RxBuf;
            } else if (RxBufLen == sizeof(RxBuf)) {        //填满了，且没有一个\r，都抛弃
                DEBUG("Parse CarBox error");
                RxBufLen = 0;
            }
        }
    }

    delete pCls;
    pCls = nullptr;
}

void InitCarBox(void)
{
    // TODO
    static struct serial_config serialConfig;

    strcpy(serialConfig.name, "/dev/ttyHSL0");
    serialConfig.baud = 115200;
    serialConfig.data_bit = 8;
    serialConfig.verify_bit = 'N';
    serialConfig.stop_bit = 1;
    serialConfig.flow_ctrl = 0;

    std::thread([&] {
        while (true) {
            std::thread t(UartThread, &serialConfig);
            t.join();
            std::this_thread::sleep_for(std::chrono::seconds(3));
        }
    }).detach();
}

void SendRtcmToUart(const uint8_t *dat, int length) {
    if (pCls != nullptr) {
        pCls->WriteSerialPort(dat, length);
    }
}

void handleCarinfo(const struct nmea *s) {
//    DEBUG("handleCarinfo");
}

void handleKsxt(const struct nmea *s) {
//    DEBUG("handleKsxt");
    char buff[256] = {0};

    memcpy(buff, s->nmea_value[9].data, s->nmea_value[9].length);

    DEBUG("定位  %s", buff);
}